Gesture-based interaction with a pet robot
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Inertial and magnetic posture tracking for inserting humans into networked virtual environments
VRST '01 Proceedings of the ACM symposium on Virtual reality software and technology
A System for Person-Independent Hand Posture Recognition against Complex Backgrounds
IEEE Transactions on Pattern Analysis and Machine Intelligence
HUMO '00 Proceedings of the Workshop on Human Motion (HUMO'00)
Monocular tracking of the human arm in 3D
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
3D human body model acquisition from multiple views
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
| Hi-index | 0.00 |
In robot teleoperation, contacting mechanicaldevices and sensors have been commonly used to trackoperator hand and arm motion. While camera-basedtracking has the benefit of being non-contacting,markerless camera-based human tracking offers afurther advantage of not requiring markers and thusavoiding marker occlusion. This paper presents anapplication of markerless image-based arm trackingto real-time teleoperation of a robot manipulator. Themarkerless tracking is carried out by processingimages from two calibrated cameras in real-time, toestimate the positions of the joint centres of the wristand elbow in three dimensions (3D), and to computethe 3D positions of the index finger and thumb inorder to estimate the hand orientation. These are usedto determine the position and orientation of the end-effectorof a robot-manipulator in real-timeteleoperation. Markerless tracking for teleoperationwas demonstrated for pick-and-place tasks.